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wpilibc/src/main/native/include/wpi/simulation/AnalogEncoderSim.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <hal/SimDevice.h>
+#include <units/angle.h>
+
+#include "frc/geometry/Rotation2d.h"
+
+namespace frc {
+
+class AnalogEncoder;
+
+namespace sim {
+
+/**
+ * Class to control a simulated analog encoder.
+ */
+class AnalogEncoderSim {
+ public:
+  /**
+   * Constructs from an AnalogEncoder object.
+   *
+   * @param encoder AnalogEncoder to simulate
+   */
+  explicit AnalogEncoderSim(const AnalogEncoder& encoder);
+
+  /**
+   * Set the position.
+   *
+   * @param value The position.
+   */
+  void Set(double value);
+
+  /**
+   * Get the simulated position.
+   */
+  double Get();
+
+ private:
+  hal::SimDouble m_positionSim;
+};
+}  // namespace sim
+}  // namespace frc